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<div class="title">feature.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_IMPL_FEATURE_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_FEATURES_IMPL_FEATURE_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/search/pcl_search.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;pcl::solvePlaneParameters (<span class="keyword">const</span> Eigen::Matrix3f &amp;covariance_matrix,</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                           <span class="keyword">const</span> Eigen::Vector4f &amp;point,</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                           Eigen::Vector4f &amp;plane_parameters, <span class="keywordtype">float</span> &amp;curvature)</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  solvePlaneParameters (covariance_matrix, plane_parameters [0], plane_parameters [1], plane_parameters [2], curvature);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  plane_parameters[3] = 0;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">// Hessian form (D = nc . p_plane (centroid here) + p)</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  plane_parameters[3] = -1 * plane_parameters.dot (point);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;pcl::solvePlaneParameters (<span class="keyword">const</span> Eigen::Matrix3f &amp;covariance_matrix,</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                           <span class="keywordtype">float</span> &amp;nx, <span class="keywordtype">float</span> &amp;ny, <span class="keywordtype">float</span> &amp;nz, <span class="keywordtype">float</span> &amp;curvature)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;{</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// Avoid getting hung on Eigen&#39;s optimizers</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment">//  for (int i = 0; i &lt; 9; ++i)</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="comment">//    if (!pcl_isfinite (covariance_matrix.coeff (i)))</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment">//    {</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="comment">//      //PCL_WARN (&quot;[pcl::solvePlaneParameteres] Covariance matrix has NaN/Inf values!\n&quot;);</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="comment">//      nx = ny = nz = curvature = std::numeric_limits&lt;float&gt;::quiet_NaN ();</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment">//      return;</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">//    }</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="comment">// Extract the smallest eigenvalue and its eigenvector</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f::Scalar eigen_value;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f eigen_vector;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a> (covariance_matrix, eigen_value, eigen_vector);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  nx = eigen_vector [0];</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  ny = eigen_vector [1];</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  nz = eigen_vector [2];</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="comment">// Compute the curvature surface change</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">float</span> eig_sum = covariance_matrix.coeff (0) + covariance_matrix.coeff (4) + covariance_matrix.coeff (8);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordflow">if</span> (eig_sum != 0)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    curvature = fabsf (eigen_value / eig_sum);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    curvature = 0;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;}</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a2cd0857bae8a4ac67a961d98d9eacde5">   93</a></span>&#160;<a class="code" href="classpcl_1_1_feature.html#a2cd0857bae8a4ac67a961d98d9eacde5">pcl::Feature&lt;PointInT, PointOutT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;{</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] Init failed.\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="comment">// If the dataset is empty, just return</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">if</span> (input_-&gt;points.empty ())</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::compute] input_ is empty!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="comment">// Cleanup</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="comment">// If no search surface has been defined, use the input dataset as the search surface itself</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">if</span> (!surface_)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    fake_surface_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    surface_ = input_;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="comment">// Check if a space search locator was given</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keywordflow">if</span> (!tree_)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">if</span> (surface_-&gt;isOrganized () &amp;&amp; input_-&gt;isOrganized ())</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      tree_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor&lt;PointInT&gt;</a> ());</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      tree_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointInT&gt;</a> (<span class="keyword">false</span>));</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordflow">if</span> (tree_-&gt;getInputCloud () != surface_) <span class="comment">// Make sure the tree searches the surface</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    tree_-&gt;setInputCloud (surface_); </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="comment">// Do a fast check to see if the search parameters are well defined</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordflow">if</span> (search_radius_ != 0.0)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">if</span> (k_ != 0)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::compute] &quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;Both radius (%f) and K (%d) defined! &quot;</span>, search_radius_, k_);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;Set one of them to zero first and then re-run compute ().\n&quot;</span>);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="comment">// Cleanup</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      deinitCompute ();</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keywordflow">else</span> <span class="comment">// Use the radiusSearch () function</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      search_parameter_ = search_radius_;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="comment">// Declare the search locator definition</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      int (<a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a>::*radiusSearchSurface)(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, <span class="keywordtype">int</span> index, <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                                         std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_distances,</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                                         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn) <span class="keyword">const</span> = &amp;<a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointInT&gt;::radiusSearch</a>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      search_method_surface_ = boost::bind (radiusSearchSurface, boost::ref (tree_), _1, _2, _3, _4, _5, 0);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">if</span> (k_ != 0) <span class="comment">// Use the nearestKSearch () function</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      search_parameter_ = k_;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="comment">// Declare the search locator definition</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      int (<a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a>::*nearestKSearchSurface)(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> k, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                                           std::vector&lt;float&gt; &amp;k_distances) <span class="keyword">const</span> = &amp;KdTree::nearestKSearch;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      search_method_surface_ = boost::bind (nearestKSearchSurface, boost::ref (tree_), _1, _2, _3, _4, _5);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::compute] Neither radius nor K defined! &quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;Set one of them to a positive number first and then re-run compute ().\n&quot;</span>);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="comment">// Cleanup</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      deinitCompute ();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#ab235b6b76033922b19aae91714d7e413">  176</a></span>&#160;<a class="code" href="classpcl_1_1_feature.html#ab235b6b76033922b19aae91714d7e413">pcl::Feature&lt;PointInT, PointOutT&gt;::deinitCompute</a> ()</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;{</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="comment">// Reset the surface</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordflow">if</span> (fake_surface_)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    surface_.reset ();</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    fake_surface_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;}</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">  189</a></span>&#160;<a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">pcl::Feature&lt;PointInT, PointOutT&gt;::compute</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;{</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keywordflow">if</span> (!initCompute ())</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 0;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="comment">// Copy the header</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> = input_-&gt;header;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="comment">// Resize the output dataset</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="keywordflow">if</span> (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != indices_-&gt;size ())</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (indices_-&gt;size ());</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <span class="comment">// Check if the output will be computed for all points or only a subset</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="comment">// If the input width or height are not set, set output width as size</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="keywordflow">if</span> (indices_-&gt;size () != input_-&gt;points.size () || input_-&gt;width * input_-&gt;height == 0)</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = input_-&gt;width;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = input_-&gt;height;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = input_-&gt;is_dense;</div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">  218</a></span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="comment">// Perform the actual feature computation</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  computeFeature (output);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;}</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_normals.html#a2720af3323c9bb15c073156fe568ced3">  229</a></span>&#160;<a class="code" href="classpcl_1_1_feature_from_normals.html#a2720af3323c9bb15c073156fe568ced3">pcl::FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;{</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  {</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] Init failed.\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="comment">// Check if input normals are set</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keywordflow">if</span> (!normals_)</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  {</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] No input dataset containing normals was given!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::deinitCompute</a> ();</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="comment">// Check if the size of normals is the same as the size of the surface</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keywordflow">if</span> (normals_-&gt;points.size () != surface_-&gt;points.size ())</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] &quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;The number of points in the input dataset (%u) differs from &quot;</span>, surface_-&gt;points.size ());</div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a2cd0857bae8a4ac67a961d98d9eacde5">  250</a></span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;the number of points in the dataset containing the normals (%u)!\n&quot;</span>, normals_-&gt;points.size ());</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::deinitCompute</a> ();</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  }</div>
<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#ab235b6b76033922b19aae91714d7e413">  254</a></span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;}</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>LT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_labels.html#a93acfa34d625f616e094f65ddef10ae9">  262</a></span>&#160;<a class="code" href="classpcl_1_1_feature_from_labels.html#a93acfa34d625f616e094f65ddef10ae9">pcl::FeatureFromLabels&lt;PointInT, PointLT, PointOutT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;{</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  {</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] Init failed.\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="comment">// Check if input normals are set</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordflow">if</span> (!labels_)</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] No input dataset containing labels was given!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::deinitCompute</a> ();</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  }</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="comment">// Check if the size of normals is the same as the size of the surface</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="keywordflow">if</span> (labels_-&gt;points.size () != surface_-&gt;points.size ())</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  {</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] The number of points in the input dataset differs from the number of points in the dataset containing the labels!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::deinitCompute</a> ();</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  }</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;}</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html">pcl::FeatureWithLocalReferenceFrames&lt;PointInT, PointRFT&gt;::initLocalReferenceFrames</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span>&amp; indices_size,</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;                                                                                    <span class="keyword">const</span> LRFEstimationPtr&amp; lrf_estimation)</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;{</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keywordflow">if</span> (frames_never_defined_)</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    frames_.reset ();</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="comment">// Check if input frames are set</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keywordflow">if</span> (!frames_)</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  {</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordflow">if</span> (!lrf_estimation)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    {</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[initLocalReferenceFrames] No input dataset containing reference frames was given!\n&quot;</span>);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    {</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <span class="comment">//PCL_WARN (&quot;[initLocalReferenceFrames] No input dataset containing reference frames was given! Proceed using default\n&quot;);</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      PointCloudLRFPtr default_frames (<span class="keyword">new</span> PointCloudLRF());</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      lrf_estimation-&gt;compute (*default_frames);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      frames_ = default_frames;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    }</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  }</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  <span class="comment">// Check if the size of frames is the same as the size of the input cloud</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  <span class="keywordflow">if</span> (frames_-&gt;points.size () != indices_size)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="keywordflow">if</span> (!lrf_estimation)</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    {</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[initLocalReferenceFrames] The number of points in the input dataset differs from the number of points in the dataset containing the reference frames!\n&quot;</span>);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    {</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="comment">//PCL_WARN (&quot;[initLocalReferenceFrames] The number of points in the input dataset differs from the number of points in the dataset containing the reference frames! Proceed using default\n&quot;);</span></div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      PointCloudLRFPtr default_frames (<span class="keyword">new</span> PointCloudLRF());</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      lrf_estimation-&gt;compute (*default_frames);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      frames_ = default_frames;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    }</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  }</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;}</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FEATURES_IMPL_FEATURE_H_</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_feature_from_labels_html_a93acfa34d625f616e094f65ddef10ae9"><div class="ttname"><a href="classpcl_1_1_feature_from_labels.html#a93acfa34d625f616e094f65ddef10ae9">pcl::FeatureFromLabels::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> feature.hpp:262</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_a2720af3323c9bb15c073156fe568ced3"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#a2720af3323c9bb15c073156fe568ced3">pcl::FeatureFromNormals::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> feature.hpp:229</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a2cd0857bae8a4ac67a961d98d9eacde5"><div class="ttname"><a href="classpcl_1_1_feature.html#a2cd0857bae8a4ac67a961d98d9eacde5">pcl::Feature::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> feature.hpp:93</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ab235b6b76033922b19aae91714d7e413"><div class="ttname"><a href="classpcl_1_1_feature.html#ab235b6b76033922b19aae91714d7e413">pcl::Feature::deinitCompute</a></div><div class="ttdeci">virtual bool deinitCompute()</div><div class="ttdoc">This method should get called after ending the actual computation.</div><div class="ttdef"><b>Definition:</b> feature.hpp:176</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ad5b1fa9612da40e738b1d99252c5ff2f"><div class="ttname"><a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">pcl::Feature::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using th...</div><div class="ttdef"><b>Definition:</b> feature.hpp:189</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html">pcl::FeatureWithLocalReferenceFrames</a></div><div class="ttdoc">FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...</div><div class="ttdef"><b>Definition:</b> feature.h:448</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor</a></div><div class="ttdoc">OrganizedNeighbor is a class for optimized nearest neigbhor search in organized point clouds.</div><div class="ttdef"><b>Definition:</b> organized.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
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